Study On Techniques Of 6-DOF Redundant Parallel Vibration Table On Basic Of 6-Axises Acceleration Sensor

The vibration table is one of the most important test equipment in the research of the vibration engineering. Corresponding to the serial vibration table, the vibration table with parallel structure shows several advantages, such as, higher stiffness, better symmetry, higher velocity, better dynamics and compact structure. In this dissertation, control programming is presented to a new redundant activate parallel mechanism with 3-2-1 structure and studied in many fields, such as kinematics, dynamic simulation,design of 6-axis acceleration sensor, acceleration measuring plan of flatform, closed loop control system based on 6-axis acceleration sensor and so on.1 Analyzed mechanism character of 6-DOF redundant parallel vibration table, explained the layout,position and pose of vibration table, carried out kinematic analysis, got the inverse equation of position,velocity and acceleration,established the kinematics equation between moving platform and branched chains2 Built the 3-d numeric model of vibration table with the same dimensions of the real table, carried out the virtual experiment of dynamic simulation, made modal analysis for the moving platform of vibration table.3 Based on Stewart structure, designed a novel 6-axis acceleration sensor, made the configuration design of the sensor, carried out mode,measuring range and measuring error analysis,researched strain and stress condition in operation. Explained the detail scheme of 6 dimensional acceleration of moving platform of the vibration table and detecting solution of each branched chain about their acceleration. 4 Selection of drive pattern and drive motor are selected,designed hardware structure of control system, established the half feedback velocity control loop model of ac servo system,established single-channel electrical and mechanical joint system control model of 6-DOF vibration table with closed-loop feedback of acceleration, Analyzed of the closed-loop system stability and made the definition of acceleration feedback gain parameters.